Simulation Study of Kinematics and Dynamics of Robots

로봇 의 기구 및 동역학적 기능평가 를 위한 시물레이션 프로그램 개발

This study is to develop a program, with which the motion of the system can be simulated in view of kinematics and dynamics, and then evaluate functional capabilities of many robots in order to select the most suitable one for any given working conditions. According to the theory of Denavit & Hartenberg, rectangular coordinate is set at each joint in the robot of six joints, as this one is the major concern, and transformation matrices are derived between any two coordinates. The necessary displacement of each joint for executing a given a work is obtained from the position and posture transformation and the in-stantaneous velocity of the joint is got from given velocity distribution of the path. The necessary torque of each joint is finally calculated by Newton-Euler Method. This simulation program is applied to a robot with six rotational joints, Rotational angle and torque to time which has a given motion trajectory are figured and also torque to r.p.m.

본 연구에서는 Luh, Walker와 Paul이 제안한 Newton Euler 방법에 따라 토오 크를 계산하였고, 임으로 로봇을 선택하여 시뮬레이션 크로그램을 적용하였다.